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Improved error reporting to the MsgTxt additional field

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This commit is contained in:
koennecke
2017-08-08 17:32:32 +02:00
parent 0eed0c9357
commit 9a3b0f7666
3 changed files with 47 additions and 32 deletions
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74
sinqEPICSApp/src/EL734Driver.cpp
View File

@ -5,6 +5,10 @@ USAGE... Motor driver support for the PSI EL734 controller.
Mark Koennecke
February 2013
Updated to have an MsgTxt field through SINQAxis, error handling
Mark Koennecke, May, August 2017
*/
@ -134,18 +138,22 @@ void EL734Controller::switchRemote()
* \param[out] reply The controllers reply
*/
asynStatus EL734Controller::transactController(char command[COMLEN], char reply[COMLEN])
asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
{
asynStatus status;
size_t in, out, i;
int reason;
char myReply[COMLEN];
char myReply[COMLEN], errTxt[256];
SINQAxis *axis = getAxis(axisNo);
pasynOctetSyncIO->flush(pasynUserController_);
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason);
if(status != asynSuccess){
if(axis!= NULL){
axis->updateMsgTxtFromDriver("Lost connection to motor controller");
}
return status;
}
@ -174,13 +182,25 @@ asynStatus EL734Controller::transactController(char command[COMLEN], char reply[
myReply[i] = (char)tolower((int)reply[i]);
}
if(strstr(myReply,"?cmd") != NULL){
errlogSevPrintf(errlogMajor, "Bad command %s", command);
snprintf(errTxt,sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
errlogSevPrintf(errlogMajor, errTxt);
if(axis!= NULL){
axis->updateMsgTxtFromDriver(errTxt);
}
return asynError;
} else if(strstr(myReply,"?par") != NULL){
errlogSevPrintf(errlogMajor, "Bad parameter in command %s", command);
snprintf(errTxt,sizeof(errTxt), "Bad parameter in command %s", command);
errlogSevPrintf(errlogMajor, errTxt);
if(axis!= NULL){
axis->updateMsgTxtFromDriver(errTxt);
}
return asynError;
} else if(strstr(myReply,"?rng") != NULL){
errlogSevPrintf(errlogMajor, "Parameter out of range in command %s", command);
snprintf(errTxt,sizeof(errTxt), "Parameter out of range in command %s", command);
errlogSevPrintf(errlogMajor, errTxt);
if(axis!= NULL){
axis->updateMsgTxtFromDriver(errTxt);
}
return asynError;
}
@ -234,10 +254,7 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
oredMSR = 0;
homing = 0;
sprintf(command, "p %d %.3f", axisNo_, position/1000.);
status = pC_->transactController(command,reply);
if(status == asynError){
updateMsgTxtFromDriver(reply);
}
status = pC_->transactController(axisNo_,command,reply);
next_poll = -1;
return status;
}
@ -253,11 +270,8 @@ asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double accele
sprintf(command, "R %d", axisNo_);
homing = 1;
next_poll= -1;
status = pC_->transactController(command,reply);
if(status == asynError){
updateMsgTxtFromDriver(reply);
}
return status;
status = pC_->transactController(axisNo_,command,reply);
return status;
}
asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
@ -278,10 +292,7 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
/* This is a negative move */
sprintf(command, "FB %d", axisNo_);
}
status = pC_->transactController(command,reply);
if(status == asynError){
updateMsgTxtFromDriver(reply);
}
status = pC_->transactController(axisNo_,command,reply);
next_poll = -1;
return status;
}
@ -293,7 +304,7 @@ asynStatus EL734Axis::stop(double acceleration )
char command[COMLEN], reply[COMLEN];
sprintf(command, "S %d", axisNo_);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
updateMsgTxtFromDriver("Axis interrupted");
@ -307,10 +318,7 @@ asynStatus EL734Axis::setPosition(double position)
char command[COMLEN], reply[COMLEN];
sprintf(command, "P %d %f", axisNo_, position/1000.);
status = pC_->transactController(command,reply);
if(status == asynError){
updateMsgTxtFromDriver(reply);
}
status = pC_->transactController(axisNo_,command,reply);
next_poll = -1;
return status;
@ -336,9 +344,9 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus EL734Axis::poll(bool *moving)
{
int msr;
int msr, count;
asynStatus comStatus;
char command[COMLEN], reply[COMLEN];
char command[COMLEN], reply[COMLEN], errTxt[256];
int driverError = 0;
@ -350,10 +358,9 @@ asynStatus EL734Axis::poll(bool *moving)
// Read the current motor position
sprintf(command,"u %d", axisNo_);
comStatus = pC_->transactController(command,reply);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus == asynError){
updateMsgTxtFromDriver(reply);
driverError = 1;
driverError = 1;
}
if(comStatus) goto skip;
if(strstr(reply,"*ES") != NULL){
@ -369,7 +376,14 @@ asynStatus EL734Axis::poll(bool *moving)
updateMsgTxtFromDriver(NULL);
goto skip;
}
sscanf(reply,"%lf", &position);
count = sscanf(reply,"%lf", &position);
if(count != 1) {
snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
updateMsgTxtFromDriver(errTxt);
comStatus = asynError;
driverError =1;
goto skip;
}
//errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
setDoubleParam(pC_->motorPosition_, position*1000);
//setDoubleParam(pC_->motorEncoderPosition_, position);
@ -377,7 +391,7 @@ asynStatus EL734Axis::poll(bool *moving)
// Read the moving status of this motor
sprintf(command,"msr %d",axisNo_);
comStatus = pC_->transactController(command,reply);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
sscanf(reply,"%x",&msr);
// errlogPrintf("Axis %d, reply %s, msr %d, position = %lf\n",

2
sinqEPICSApp/src/EL734Driver.h
View File

@ -53,7 +53,7 @@ friend class EL734Axis;
private:
asynUser *pasynUserController_;
asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
void switchRemote();

3
sinqEPICSApp/src/SINQAxis.h
View File

@ -16,8 +16,9 @@ class epicsShareClass SINQAxis : public asynMotorAxis
asynStatus setStringParam(int function, const char *value);
friend class SINQController;
protected:
void updateMsgTxtFromDriver(const char *value);
protected:
private:
SINQController *pC_;